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The Non-Singular Fast Terminal Sliding Mode Control of Interior Permanent Magnet Synchronous Motor Based on Deep Flux Weakening Switching Point Tracking
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作者 Xiangfei Li Yang Yin +2 位作者 Yang Zhou Wenchang Liu Kaihui Zhao 《Energy Engineering》 EI 2023年第2期277-297,共21页
This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior mag... This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior magnet synchronous motor(IPMSM)drive systems.The mathematical model of flux weakening(FW)control is established,and the deep flux weakening switching point is calculated accurately by analyzing the relationship between the torque curve and voltage decline curve.Next,a second-order NFTSMC is designed for the speed loop controller to ensure that the system converges to the equilibrium state in finite time.Then,an extended sliding mode disturbance observer(ESMDO)is designed to estimate the uncertainty of the system.Finally,compared with both the PI control and sliding mode control(SMC)by simulations and experiments with different working conditions,the method proposed has the merits of accelerating convergence,improving steady-state accuracy,and minimizing the current and torque pulsation. 展开更多
关键词 Interior permanentmagnet synchronousmotor(IPMSM) flux weakening(FW)control non-singular fast terminal sliding mode control(NFTSMC) extended sliding mode disturbance observer(ESMDO)
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A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence
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作者 Dan Zhang Jiabin Hu +2 位作者 Jun Cheng Zheng-Guang Wu Huaicheng Yan 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第3期661-672,共12页
This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with th... This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance. 展开更多
关键词 Disturbance observer(DO) fixed-time non-singular sliding mode control robotic manipulator trajectory tracking
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Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators 被引量:18
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作者 Mezghani Ben Romdhane Neila Damak Tarak 《International Journal of Automation and computing》 EI 2011年第2期215-220,共6页
In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is necessary.However,this bound will not be easil... In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is necessary.However,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot.To resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators.By applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and disturbances.Also,the proposed controller can eliminate the chattering effect without losing the robustness property.The stability of the control algorithm can be easily verified by using Lyapunov theory.The proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness. 展开更多
关键词 terminal sliding mode sliding mode control adaptive control of robot robust control Lyapunov method.
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Integrated guidance and control design for missile with terminal impact angle constraint based on sliding mode control 被引量:21
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作者 Peng Wu Ming Yang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2010年第4期623-628,共6页
Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approac... Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approach for missile with terminal impact angle constraint is proposed.First,a mathematical model of an integrated guidance and control model in pitch plane is established,and then nonlinear transformation is employed to transform the mathematical model into a standard form suitable for sliding mode control method design.A sufficient condition for the existence of linear sliding surface is given in terms of linear matrix inequalities(LMIs),based on which the corresponding reaching motion controller is also developed.To verify the effectiveness of the proposed integrated design scheme,the numerical simulation of missile is made.The simulation results demonstrate that the proposed guidance and control law can guide missile to hit the target with desired impact angle and desired flight attitude angle simultaneously. 展开更多
关键词 GUIDANCE terminal impact angle sliding mode control integrated guidance and control linear matrix inequality(LMI).
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A novel dynamic terminal sliding mode control of uncertain nonlinear systems 被引量:17
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作者 Jinkun LIU Fuchun SUN 《控制理论与应用(英文版)》 EI 2007年第2期189-193,共5页
A new dynamic terminal sliding mode control (DTSMC) technique is proposed for a class of single-input and single-output (SISO) uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulate... A new dynamic terminal sliding mode control (DTSMC) technique is proposed for a class of single-input and single-output (SISO) uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulated based on Lyapunov theory such that the existence of the sliding phase of the closed-loop control system can be guaranteed, chattering phenomenon caused by the switching control action can be eliminated, and high precision performance is realized. Moreover, by designing terminal equation, the output tracking error converges to zero in finite time, the reaching phase of DSMC is eliminated and global robustness is obtained. The simulation results for an inverted pendulum are given to demonstrate the properties of the proposed method. 展开更多
关键词 terminal sliding mode control Dynamic sliding mode Robust control Inverted pendulum
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Finite time convergent control using terminal sliding mode 被引量:11
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作者 YiguangHONG GuowuYANG +1 位作者 DaizhanCHENG SarahSPURGEON 《控制理论与应用(英文版)》 EI 2004年第1期69-74,共6页
A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under considera... A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under consideration, which may be useful in specific applications. The proposed method, different from many existing terminal sliding model control desin methods, is studied, and then feedback laws are designed for a class of nonlinear systems, along with illustrative examples. 展开更多
关键词 terminal sliding mode control Finite-time convergence Nonlinear systems
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Adaptive Backstepping Terminal Sliding Mode Control Method Based on Recurrent Neural Networks for Autonomous Underwater Vehicle 被引量:11
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作者 Chao Yang Feng Yao Ming-Jun Zhang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2018年第6期228-243,共16页
The trajectory tracking control problem is addressed for autonomous underwater vehicle(AUV) in marine environ?ment, with presence of the influence of the uncertain factors including ocean current disturbance, dynamic ... The trajectory tracking control problem is addressed for autonomous underwater vehicle(AUV) in marine environ?ment, with presence of the influence of the uncertain factors including ocean current disturbance, dynamic modeling uncertainty, and thrust model errors. To improve the trajectory tracking accuracy of AUV, an adaptive backstepping terminal sliding mode control based on recurrent neural networks(RNN) is proposed. Firstly, considering the inaccu?rate of thrust model of thruster, a Taylor’s polynomial is used to obtain the thrust model errors. And then, the dynamic modeling uncertainty and thrust model errors are combined into the system model uncertainty(SMU) of AUV; through the RNN, the SMU and ocean current disturbance are classified, approximated online. Finally, the weights of RNN and other control parameters are adjusted online based on the backstepping terminal sliding mode controller. In addition, a chattering?reduction method is proposed based on sigmoid function. In chattering?reduction method, the sigmoid function is used to realize the continuity of the sliding mode switching function, and the sliding mode switching gain is adjusted online based on the exponential form of the sliding mode function. Based on the Lyapu?nov theory and Barbalat’s lemma, it is theoretically proved that the AUV trajectory tracking error can quickly converge to zero in the finite time. This research proposes a trajectory tracking control method of AUV, which can e ectively achieve high?precision trajectory tracking control of AUV under the influence of the uncertain factors. The feasibility and e ectiveness of the proposed method is demonstrated with trajectory tracking simulations and pool?experi?ments of AUV. 展开更多
关键词 Autonomous underwater vehicle(AUV) Trajectory tracking Neural networks Backstepping method terminal sliding mode Adaptive control
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Neural Network Based Terminal Sliding Mode Control for WMRs Affected by an Augmented Ground Friction With Slippage Effect 被引量:8
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作者 Ming Yue Linjiu Wang Teng Ma 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2017年第3期498-506,共9页
Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neura... Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required performance.In contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned simultaneously.Besides,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation property.Simulation results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment. 展开更多
关键词 Ground friction radial basis function(RBF) neural network(NN) slippage effect terminal sliding mode control(TSMC) wheeled mobile robot(WMR)
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Neural-Network-Based Terminal Sliding Mode Control for Frequency Stabilization of Renewable Power Systems 被引量:6
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作者 Dianwei Qian Guoliang Fan 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第3期706-717,共12页
This paper addresses a terminal sliding mode control(T-SMC) method for load frequency control(LFC) in renewable power systems with generation rate constraints(GRC).A two-area interconnected power system with wind turb... This paper addresses a terminal sliding mode control(T-SMC) method for load frequency control(LFC) in renewable power systems with generation rate constraints(GRC).A two-area interconnected power system with wind turbines is taken into account for simulation studies. The terminal sliding mode controllers are assigned in each area to achieve the LFC goal. The increasing complexity of the nonlinear power system aggravates the effects of system uncertainties. Radial basis function neural networks(RBF NNs) are designed to approximate the entire uncertainties. The terminal sliding mode controllers and the RBF NNs work in parallel to solve the LFC problem for the renewable power system. Some simulation results illustrate the feasibility and validity of the presented scheme. 展开更多
关键词 Generation rate constraint(GRC) load frequency control(LFC) radial basis function neural networks(RBF NNs) renewable power system terminal sliding mode control(T-SMC)
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Adaptive terminal sliding mode control for high-order nonlinear dynamic systems 被引量:11
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作者 庄开宇 苏宏业 +1 位作者 张克勤 褚健 《Journal of Zhejiang University Science》 EI CSCD 2003年第1期58-63,共6页
An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can... An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high-order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed-loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed-loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method. 展开更多
关键词 terminal sliding mode control Finite time convergence Adaptive laws
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Synchronization of uncertain fractional-order chaotic systems with disturbance based on a fractional terminal sliding mode controller 被引量:3
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作者 王东风 张金营 王晓燕 《Chinese Physics B》 SCIE EI CAS CSCD 2013年第4期178-184,共7页
This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control. Based on Lyapunov stability theory, a new fractional... This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control. Based on Lyapunov stability theory, a new fractional-order switching manifold is proposed, and in order to ensure the occurrence of sliding motion in finite time, a corresponding sliding mode control law is designed. The proposed control scheme is applied to synchronize the fractional-order Lorenz chaotic system and fractional-order Chen chaotic system with uncertainty and external disturbance parameters. The simulation results show the applicability and efficiency of the proposed scheme. 展开更多
关键词 fractional-order chaotic system SYNCHRONIZATION terminal sliding mode control UNCERTAINTY DISTURBANCE
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Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance 被引量:3
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作者 郭益深 陈力 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2008年第5期583-590,共8页
The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynami... The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base's attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme. 展开更多
关键词 free-floating space rigid manipulator external disturbance terminal slidingsurface coordinated motion terminal sliding mode control
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Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control 被引量:4
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作者 严浙平 于浩淼 侯恕萍 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第5期1085-1094,共10页
The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided in... The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances. 展开更多
关键词 integral-fast terminal sliding mode control depth control underactuated unmanned undersea vehicle
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Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode 被引量:2
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作者 王尧尧 陈家旺 +1 位作者 顾临怡 李晓东 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第12期4616-4624,共9页
For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydrauli... For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers. 展开更多
关键词 time delay control terminal sliding mode modeL-FREE hydraulic manipulators
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Terminal Sliding Mode Fuzzy Control Based on Multiple Sliding Surfaces for Nonlinear Ship Autopilot Systems 被引量:2
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作者 袁雷 吴汉松 《Journal of Marine Science and Application》 2010年第4期425-430,共6页
A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which takes account of rudder characteristics and parameter uncertainty. In order to solve the p... A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which takes account of rudder characteristics and parameter uncertainty. In order to solve the problem, the controller was designed by employing the universal approximation property of fuzzy logic system, the advantage of Nussbaum function, and using multiple sliding mode control algorithm based on the recursive technique. In the last step of designing, a nonsingular terminal sliding mode was utilized to drive the last state of the system to converge in a finite period of time, and high-order sliding mode control law was designed to eliminate the chattering and make the system robust. The simulation results showed that the controller designed here could track a desired course fast and accurately. It also exhibited strong robustness peculiarly to system, and had better adaptive ability than traditional PID control algorithms. 展开更多
关键词 ship course control unmatched uncertainty multiple sliding mode control nonsingular terminal sliding mode control ROBUSTNESS
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Grey Wolf Optimization Based Tuning of Terminal Sliding Mode Controllers for a Quadrotor 被引量:2
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作者 Rabii Fessi Hegazy Rezk Soufiene Bouallègue 《Computers, Materials & Continua》 SCIE EI 2021年第8期2265-2282,共18页
The research on Unmanned Aerial Vehicles(UAV)has intensified considerably thanks to the recent growth in the fields of advanced automatic control,artificial intelligence,and miniaturization.In this paper,a Grey Wolf O... The research on Unmanned Aerial Vehicles(UAV)has intensified considerably thanks to the recent growth in the fields of advanced automatic control,artificial intelligence,and miniaturization.In this paper,a Grey Wolf Optimization(GWO)algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode(FTSM)controllers for a quadrotor UAV.A full control scheme is first established to deal with the coupled and underactuated dynamics of the drone.Controllers for altitude,attitude,and position dynamics become separately designed and tuned.To work around the repetitive and time-consuming trial-error-based procedures,all FTSM controllers’parameters for only altitude and attitude dynamics are systematically tuned thanks to the proposed GWO metaheuristic.Such a hard and complex tuning task is formulated as a nonlinear optimization problem under operational constraints.The performance and robustness of the GWO-based control strategy are compared to those based on homologous metaheuristics and standard terminal sliding mode approaches.Numerical simulations are carried out to show the effectiveness and superiority of the proposed GWO-tuned FTSM controllers for the altitude and attitude dynamics’stabilization and tracking.Nonparametric statistical analyses revealed that the GWO algorithm is more competitive with high performance in terms of fastness,non-premature convergence,and research exploration/exploitation capabilities. 展开更多
关键词 QUADROTOR cascade control fast terminal sliding mode control grey wolf optimizer nonparametric Friedman analysis
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Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal slidingmode control 被引量:3
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作者 Shengdong Yu Hongtao Wu +2 位作者 Mingyang Xie Haiping Lin Jinyu Ma 《Bio-Design and Manufacturing》 SCIE CSCD 2020年第4期410-426,共17页
A novel robust controller is proposed in this study to realize the precise motion control of a cell puncture mechanism(CPM)driven by piezoelectric ceramics(PEAs).The entire dynamic model of CPM is constructed based on... A novel robust controller is proposed in this study to realize the precise motion control of a cell puncture mechanism(CPM)driven by piezoelectric ceramics(PEAs).The entire dynamic model of CPM is constructed based on the Bouc–Wen model,and the nonlinear part of the dynamic model is optimized locally to facilitate the construction of a robust controller.A model-based,nonlinear robust controller is constructed using time-delay estimation(TDE)and fractional-order nonsingular terminal sliding mode(FONTSM).The proposed controller does not require prior knowledge of unknown disturbances due to its real-time online estimation and compensation of unknown terms by using the TDE technology.The controller also has finite-time convergence and high-precision trajectory tracking capabilities due to FONTSM manifold and fast terminal sliding mode-type reaching law.The stability of the closed-loop system is proved by Lyapunov stability theory.Computer simulation and hardware-in-loop simulation experiments of CPM verify that the proposed controller outperforms traditional terminal sliding mode controllers,such as the integer-order or model-free controller.The proposed controller can also continuously output without chattering and has high control accuracy.Zebrafish embryo is used as a verification target to complete the cell puncture experiment.From the engineering application perspective,the proposed control strategy can be effectively applied in a PEA-driven CPM. 展开更多
关键词 Cell puncture mechanism(CPM) Piezoelectric actuator(PEA) Robust motion control Fractional-order nonsingular terminal sliding mode(FONTSM) Time-delay estimation(TDE)
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Chattering free adaptive fuzzy terminal sliding mode control for second order nonlinear system 被引量:1
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作者 Jinkun LIU Fuchun SUN 《控制理论与应用(英文版)》 EI 2006年第4期385-391,共7页
A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization tec... A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach. 展开更多
关键词 Adaptive fuzzy control terminal sliding mode control Nonlinear system
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Nonsingular Fast Terminal Sliding Mode Control Based on Nonlinear Disturbance Observer for a Quadrotor 被引量:1
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作者 ZHAO Jing WANG Peng +2 位作者 SUN Yanfei XU Fengyu XIE Fei 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2022年第2期219-230,共12页
Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is ... Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is proposed to estimate the actual values of uncertainties and disturbances.Second,the NFTSM controller based on the reaching law is designed for the attitude subsystem(inner loop),and the control strategy can ensure Euler angles’fast convergence and stability of the attitude subsystem.Moreover,the NFTSMC strategy combined with backstepping is proposed for the position subsystem(outer loop),which can ensure subsystem tracking performance.Finally,comparative simulations show the trajectory tracking performance of the proposed method is superior to that of the traditional sliding mode control(SMC)and the SM integral backstepping control under uncertainties and disturbances. 展开更多
关键词 quadrotor aircraft nonlinear disturbance observer(NDO) nonsingular fast terminal sliding mode control(NFTSMC) disturbances
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Decoupled nonsingular terminal sliding mode control for affine nonlinear systems 被引量:1
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作者 Yueneng Yang Ye Yan 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2016年第1期192-200,共9页
A decoupled nonsingular terminal sliding mode control(DNTSMC) approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control(NTSMC) method is p... A decoupled nonsingular terminal sliding mode control(DNTSMC) approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control(NTSMC) method is presented,in which the nonsingular terminal sliding surface is defined as a special nonsingular terminal function and the convergence time of the system states can be specified.The affine nonlinear system is firstly decoupled into linear subsystems via feedback linearization.Then,a nonsingular terminal sliding surface is defined and the NTSMC method is applied to each subsystem separately to ensure the finite time convergence of the closed-loop system.The verification example is given to demonstrate the effectiveness and robustness of the proposed approach.The proposed approach exhibits a considerable advantage in terms of faster tracking error convergence and less chattering compared with the conventional sliding mode control(CSMC). 展开更多
关键词 nonlinear control feedback linearization terminal sliding mode control nonsingular affine nonlinear system.
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